The Ivory Coast international struck either side of half-time to maintain the Blues' 100 per cent start to this season's Champions League campaign.
Kalou had missed two clear first-half chances before he finally opened the scoring in the 41st minute.
Alongside Branislav Ivanovic, Juliano Belletti and Michael Ballack, he was one of four changes to the side that missed the weekend league defeat at Aston Villa.
Didier Drogba was absent as he completed his three-match European ban, but strike partner Nicolas Anelka picked up the slack on the night with a hard-working performance which deserved a goal.
Atletico had threatened first when Diego Forlan's stooping header brought a smart near-post save from Petr Cech.
Visiting goalkeeper Asenjo Andres Sergio then made a hash of a Lampard free-kick which drifted over his head and into the back of the net only for the offside flag to spare his blushes.
Kalou was left hanging his head in shame on 15 minutes as he side-footed wide from 15 yards after a lucky ricochet ended with Deco teeing him up for a simple chance.
He then spurned two more half-chances as Chelsea turned the screw before finally breaking the deadlock four minutes ahead of the interval.
Ashley Cole pulled the ball back across the six-yard box and the advancing striker scooped it into the roof of the net.
It was 2-0 seven minutes after half-time when Kalou was afforded far too much space eight yards out and he met a corner with a downward header which beat the despairing dive of Sergio.
Cech denied a subdued Sergio Aguero when one-on-one before the Blues made it 3-0 after 69 minutes.
Lampard ended a ten-match sequence without a goal when he picked out the very bottom corner with a right-foot shot from 18 yards.
An own goal from Luis Amaranto Perea in stoppage time added a final gloss to the scoreline as the full-back was the unfortunate defender whose head deflected Lampard's free-kick into his own net.
The three points have left Chelsea on the cusp of qualifying for the knockout stages with half of their group games still remaining.